First, it is not specific to any installed distribution, so it would better go somewhere in Software section than in Linux->Distributions->*
www.centos.org uses a CAcert (cacert.org) certificates. These certificates are free and are reasonably respected. You can visit cacert.org and install their root certificate; or you can simply add an exception to trust CAcert-signed certificate CentOS site is using. In both cases you need to trust your Internet uplink not to change data in transit (you do not need to trust it not to look at your communications, though).
Earlier Firefox just displayed a dialog box that urged user to inspect certificate and answer if it should be trusted, but they decided to give error page just to ofrce user to find out what SSL actually is.. CAcert Root certificate is not included in Firefox because of discussions if CAcert verification policy is robust enough. Look at
http://www.cacert.org/index.php?id=19 for details of "who gets which certificate"; generally, if a site is using 24-month CAcert SSL certificate, its administration disclosed their verifiable identities.